US10622927B2 - Parameter selection support system, parameter selection support method, and parameter selection support program - Google Patents

Parameter selection support system, parameter selection support method, and parameter selection support program Download PDF

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US10622927B2
US10622927B2 US16/330,101 US201716330101A US10622927B2 US 10622927 B2 US10622927 B2 US 10622927B2 US 201716330101 A US201716330101 A US 201716330101A US 10622927 B2 US10622927 B2 US 10622927B2
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parameters
capacity
parameter
selection support
operation pattern
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US20190379313A1 (en
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Shinji Tanaka
Yasuyuki Saito
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0027—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04842—Selection of displayed objects or displayed text elements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04847—Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Definitions

  • the present invention relates to a parameter selection support system that is a capacity selection tool which selects a capacity of a drive device such as a servomotor based on parameters of an operation pattern and parameters of mechanical condition.
  • the present invention also relates to a parameter selection support method and a parameter selection support program.
  • a conventional capacity selection tool is intended to determine a motor capacity, that is to say, a capacity of a drive device that drives a load based on parameters of an operation pattern and parameters of mechanical condition for the load and to select a motor having that capacity.
  • the capacity here implies an output of the drive device, namely, a wattage of the motor.
  • Some users demand preselection of a motor and a capacity based on a constraint such as a budget, and later review for allowable parameters of an operation pattern and allowable parameters of mechanical condition for a load with respect to the selected capacity.
  • the users need to repeat an operation involving entering parameters of an operation pattern and parameters of mechanical condition into the capacity selection tool to make the capacity selection tool calculate a required capacity and select a drive device having the capacity, and this is time-consuming.
  • Patent Literature 1 On the other hand, in a device that is disclosed in Patent Literature 1 and selects a motor control unit, use conditions corresponding to the above-described parameters are specified, and an intended motor and an intended controller are predetermined. This device judges whether or not the predetermined motor and the predetermined controller can be used.
  • a use condition sensitivity display unit displays use condition tendencies that enable use of the predetermined motor and the predetermined controller within their capabilities.
  • Patent Literature 1 Japanese Patent Application Laid-open No. 2010-193687
  • a command setting unit disclosed in Patent Literature 1 shows magnitude of a capacity based on an acceleration time, a deceleration time, and a maximum speed to encourage re-input.
  • a change cannot be made to a time for which a constant speed is maintained, and a moving amount cannot be taken into consideration. This problematically affects positioning operation of the unit.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a parameter selection support system capable of providing a support for a user to easily set parameters including a moving amount in relation to a capacity of a specified drive device.
  • An aspect of the present invention provides a parameter selection support system that supports, based on a capacity of a drive device, selection of parameters of an operation pattern and parameters of mechanical condition for a load that is driven by the drive device.
  • the parameter selection support system includes: a display unit to display an input screen for the parameters; a reception unit to receive the parameters and the capacity; and a controller to calculate an allowable range for each of some of the parameters that is allowable for the capacity received by the reception unit and to cause the display unit to display the allowable range on the input screen, wherein the parameters of the operation pattern include a moving amount of the load.
  • the parameter selection support system is capable of support that makes it easy for a user to set the parameters including the moving amount in relation to the capacity of the specified drive device.
  • FIG. 1 is a block diagram illustrating a configuration of a parameter selection support system according to a first embodiment of the present invention.
  • FIG. 2 illustrates a hardware configuration for implementation of functions of the parameter selection support system in a computer according to the first embodiment.
  • FIG. 3 is a flowchart showing operation of the parameter selection support system according to the first embodiment.
  • FIG. 4 illustrates a motor input screen according to the first embodiment.
  • FIG. 5 illustrates a mechanical condition input screen according to the first embodiment.
  • FIG. 6 illustrates an operation pattern input screen according to the first embodiment.
  • FIG. 7 illustrates an example of an operation pattern according to the first embodiment.
  • FIG. 8 illustrates a screen showing a motor selection result according to the first embodiment.
  • FIG. 9 illustrates a mechanical condition input screen where parameters are shown with allowable ranges according to the first embodiment.
  • FIG. 10 illustrates an operation pattern input screen where parameters are shown with allowable ranges according to the first embodiment.
  • FIG. 11 illustrates another mechanical condition input screen according to the first embodiment.
  • FIG. 12 illustrates another mechanical condition input screen where the parameters are shown with allowable ranges according to the first embodiment.
  • FIG. 13 illustrates an operation pattern input screen where parameters are shown with respective allowable ranges according to a second embodiment of the present invention.
  • FIG. 14 illustrates how an operation pattern is corrected according to the second embodiment.
  • FIG. 15 illustrates an operation pattern input screen according to a third embodiment of the present invention.
  • FIG. 16 illustrates an operation pattern input screen where parameters are shown with respective allowable ranges according to the third embodiment.
  • FIG. 17 illustrates how an operation pattern is corrected according to the third embodiment.
  • FIG. 18 is another illustration of how the operation pattern is corrected according to the third embodiment.
  • FIG. 19 illustrates an operation pattern input screen according to a fourth embodiment of the present invention.
  • FIG. 20 illustrates an operation pattern input screen where parameters are shown with respective allowable ranges according to the fourth embodiment.
  • FIG. 21 illustrates a relationship between fixation degree and each of the allowable ranges according to the fourth embodiment.
  • FIG. 1 is a block diagram illustrating a configuration of the parameter selection support system 100 according to the first embodiment of the present invention.
  • the parameter selection support system 100 includes a controller 110 that calculates a capacity, a reception unit 120 that receives inputs from a user, a display unit 130 that displays the information received by the reception unit 120 , and a storage unit 140 that stores the information received by the reception unit 120 .
  • the reception unit 120 includes a motor reception unit 121 that receives a motor type name of a servomotor which is a drive device that a user specifies, an operation pattern reception unit 122 that receives parameters of an operation pattern of a load that the user enters, and a mechanical condition reception unit 123 that receives parameters of mechanical condition of the load that the user enters.
  • the operation pattern is for the load that is to be driven by the drive device, while the mechanical condition includes setting conditions relating to a mechanism of the load.
  • the display unit 130 includes a motor display unit 131 that displays a motor input screen where the user is allowed to input the user-specified motor, an operation pattern display unit 132 that displays an operation pattern input screen where the user is allowed to enter the parameters of the operation pattern for the load, and a mechanical condition display unit 133 that displays a mechanical condition input screen where the user is allowed to enter the parameters of the mechanical condition for the load.
  • the motor display unit 131 displays not only the motor input screen where the user is allowed to input the user-specified motor, but also a screen showing the selected motor.
  • the storage unit 140 includes a motor specification storage unit 141 that retains specifications of each of motors, an operation pattern storage unit 142 that retains the operation pattern parameters of the load which the operation pattern reception unit 122 has received, and a mechanical condition storage unit 143 that retains the mechanical condition parameters of the load the mechanical condition reception unit 123 has received.
  • FIG. 2 illustrates a hardware configuration for implementation of functions of the parameter selection support system 100 in a computer according to the first embodiment.
  • the functions of the parameter selection support system 100 are implemented in the computer, those functions of the parameter selection support system 100 are implemented by use of, as illustrated in FIG. 2 , a central processing unit (CPU) 201 , a memory 202 , a memory device 203 , a display device 204 , and an input device 205 .
  • CPU central processing unit
  • Functions of the controller 110 are implemented by use of software, firmware, or a combination of software and firmware.
  • the software or the firmware is described as a program and is stored in the memory device 203 .
  • the CPU 201 loads, into the memory 202 , the parameter selection support program, which is stored in the form of the software, the firmware, or the combination of the software and the firmware in the memory device 203 , and executes the parameter selection support program for implementation of the functions of the controller 110 .
  • the parameter selection support system 100 includes the memory device 203 that stores the parameter selection support program according to which steps are eventually carried out for implementation of the functions of the controller 110 .
  • the parameter selection support program can be the one that causes the computer to carry out a parameter selection support method which is implemented by the functions of the controller 110 .
  • the reception unit 120 is implemented by use of the input device 205 .
  • Specific examples of the input device 205 include a keyboard, a mouse, and a touch panel.
  • the display unit 130 is implemented by use of the display device 204 .
  • Specific examples of the display device 204 include a monitor and a display.
  • the storage unit 140 is implemented by use of the memory 202 .
  • the memory 202 corresponds to a volatile storage area such as a random access memory (RAM).
  • the memory device 203 corresponds to a nonvolatile or volatile semiconductor memory such as a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM), or an electrically erasable programmable read only memory (EEPROM) (registered trademark), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a digital versatile disk (DVD).
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • EEPROM electrically erasable programmable read only memory
  • DVD digital versatile disk
  • FIG. 3 is a flowchart showing operation of the parameter selection support system 100 according to the first embodiment.
  • FIG. 4 illustrates a motor input screen according to the first embodiment.
  • FIG. 5 illustrates a mechanical condition input screen according to the first embodiment. The input screen illustrated in FIG. 5 is an example where load mechanism setting is carried out.
  • FIG. 6 illustrates an operation pattern input screen according to the first embodiment. A specific example of a load to which the load mechanism setting illustrated in FIG. 5 and an operation pattern illustrated in FIG. 6 refer is a ball screw.
  • FIG. 7 illustrates an example of the operation pattern according to the first embodiment.
  • FIG. 8 illustrates a screen showing a motor selection result according to the first embodiment.
  • FIG. 9 illustrates a mechanical condition input screen where parameters are shown with allowable ranges according to the first embodiment.
  • FIG. 9 illustrates a mechanical condition input screen where parameters are shown with allowable ranges according to the first embodiment.
  • FIGS. 3 to 12 illustrates an operation pattern input screen where parameters are shown with allowable ranges according to the first embodiment.
  • FIG. 11 illustrates another mechanical condition input screen according to the first embodiment.
  • FIG. 12 illustrates another mechanical condition input screen where the parameters are shown with allowable ranges according to the first embodiment.
  • the motor reception unit 121 receives that entered motor type name (step S 1 ). Because the servomotor can be uniquely specified by the motor type name, one servomotor is identified in a list of servomotors included in a catalog. Once the servomotor is identified, a capacity of that servomotor is determined consequently. This means that the specification of the motor type name by the user leads to specification of the capacity by the user. This means that in step S 1 , the motor reception unit 121 receives the capacity of the specified motor. The specified capacity is indicated by “X”.
  • the controller 110 uses the motor type name received by the motor reception unit 121 to refer to the motor specifications retained by the motor specification storage unit 141 .
  • Specific examples of the motor specifications include “maximum rotational speed”, “maximum torque”, “rated torque”, and “rated output”.
  • the controller 110 controls the motor display unit 131 to display motor specification values corresponding to the received motor type name “motor-A” in corresponding fields for “maximum rotational speed”, “maximum torque”, “rated torque”, and “rated output” on the motor input screen in FIG. 4 .
  • the mechanical condition reception unit 123 receives these entered parameters of the mechanical condition (step S 2 ).
  • the mechanical condition storage unit 143 stores the mechanical condition parameters received by the mechanical condition reception unit 123 .
  • the controller 110 performs such control as to cause the mechanical condition display unit 133 to display the parameters received by the mechanical condition reception unit 123 as they are.
  • the operation pattern reception unit 122 receives these entered parameters of the operation pattern (step S 3 ).
  • the operation pattern storage unit 142 stores the operation pattern parameters received by the operation pattern reception unit 122 .
  • These parameters are indicative of the operation pattern of the load that is driven by the servomotor which is a drive device, and are “moving amount”, “speed”, “acceleration time”, “constant-speed time”, “deceleration time”, and “idle time” of the load. Their relationship is illustrated in FIG. 7 .
  • the controller 110 may perform such control as to cause the operation pattern display unit 132 to display the parameters including the “moving amount”, the “speed”, the “acceleration time”, the “constant-speed time”, the “deceleration time”, and the “idle time” as they are when they are received by the operation pattern reception unit 122 .
  • the controller 110 generates a graph as illustrated in FIG. 7 based on the “moving amount”, the “speed”, the “acceleration time”, the “constant-speed time”, the “deceleration time”, and the “idle time” that have been received by the operation pattern reception unit 122 , and causes the operation pattern display unit 132 to display the graph together with FIG. 6 .
  • the controller 110 may retain such a mathematical relation between the “moving amount” corresponding to a trapezoidal area in FIG. 7 and some elements illustrated in FIG. 7 .
  • the elements include the “speed”, the “acceleration time”, the “constant-speed time” and the “deceleration time” that are illustrated in FIG. 7 .
  • the controller 110 may retain information on a formula that expresses this relation. In this case, even when the operation pattern reception unit 122 has not received some of the parameters including the “moving amount”, the “speed”, the “acceleration time”, the “constant-speed time”, and the “deceleration time”, the controller 110 can calculate the unreceived parameter based on the received parameters and the above relation.
  • the controller 110 can calculate the “speed” if the “moving amount”, the “acceleration time”, the “constant-speed time”, and the “deceleration time” have been entered, and thus can cause the operation pattern display unit 132 to display a value of the “speed”. Even when the “moving amount” has not been entered by the user, the controller 110 can calculate the “moving amount” if the “speed”, the “acceleration time”, the “constant-speed time”, and the “deceleration time” have been entered, and thus can cause the operation pattern display unit 132 to display a value of the “moving amount”. By calculating the unreceived parameter in this way, the controller 110 can generate such a graph in FIG. 7 and can cause the operation pattern display unit 132 to display the graph together with FIG. 6 .
  • the controller 110 calculates a required servomotor capacity Y based on the mechanical condition parameters retained by the mechanical condition storage unit 143 and the operation pattern parameters retained by the operation pattern storage unit 142 (step S 4 ).
  • the controller 110 holds beforehand a relation between servomotor capacity, and the mechanical condition parameters and the operation pattern parameters, and thus can calculate the required capacity Y based on that relation.
  • the capacity Y is a servomotor output wattage determined based on the mechanical condition parameters and the operation pattern parameters.
  • motor speed “speed”/“distance traveled in one rotation of motor”.
  • the “distance traveled in one rotation of motor” is also referred to as “ball screw lead”.
  • the “torque during acceleration”, the “torque at constant speed”, and the “torque during deceleration” are calculated based on the mechanical condition parameters by use of publicly known means.
  • the controller 110 subsequently determines whether or not the servomotor capacity Y calculated in step S 4 is less than or equal to the servomotor capacity X specified in step S 1 (step S 5 ).
  • step S 5 the controller 110 causes the motor display unit 131 to display the motor selection result illustrated in FIG. 8 (step S 6 ).
  • the servomotor capacity Y calculated in step S 4 can be achieved by the servomotor entered in step S 1 . That means that the mechanical condition parameters received in step S 2 and the operation pattern parameters received in step S 3 are allowable for the servomotor capacity X entered in step S 1 . Therefore, the motor selection result illustrated in FIG.
  • the values shown in fields for “rotational speed”, “torque during acceleration”, “torque during deceleration”, “continuously effective load torque”, and “output wattage” have been calculated by the controller 110 based on the mechanical condition parameters retained by the mechanical condition storage unit 143 and the operation pattern parameters retained by the operation pattern storage unit 142 .
  • the “rotational speed” is a rotational speed of the servomotor during the constant-speed time in FIG. 7 .
  • the “torque during acceleration” is a torque required during the acceleration time in FIG.
  • the “torque during deceleration” is a torque required during the deceleration time in FIG. 7 .
  • the “continuously effective load torque” is a time-averaged torque for the operation pattern illustrated in FIG. 7 .
  • step S 5 the controller 110 causes the operation pattern display unit 132 and the mechanical condition display unit 133 to encourage, by display, adjustment of the operation pattern and adjustment of the mechanical condition (step S 7 ).
  • the servomotor capacity Y calculated in step S 4 cannot be achieved by the user-specified servomotor received in step S 1 , so that the specified servomotor is unsuitable. That means that the mechanical condition parameters received in step S 2 and the operation pattern parameters received in step S 3 are unallowable for the specified servomotor capacity X.
  • the controller 110 calculates allowable parameter ranges for the capacity X of the specified servomotor and effects display of those allowable ranges on the operation pattern input screen and the mechanical condition input screen, in step S 7 .
  • the controller 110 holds beforehand the relation between the servomotor capacity, and the mechanical condition parameters and the operation pattern parameters, and thus can calculate, based on that relation, the allowable range of each of those parameters for the specified capacity X. In this way, the user can be encouraged to make parameter adjustment for re-input.
  • the controller 110 causes the mechanical condition display unit 133 to display the mechanical condition input screen illustrated in FIG. 9 where some of the parameters of the mechanical condition are shown with the corresponding allowable ranges.
  • the controller 110 also causes the operation pattern display unit 132 to display the operation pattern input screen illustrated in FIG. 10 where the parameters of the operation pattern are shown with the corresponding allowable ranges.
  • an allowable parameter range or allowable parameter ranges are calculated by the controller 110 and displayed by the display unit 130 .
  • one of threshold values may be shown as illustrated in FIG.
  • the threshold values namely, an upper limit and a lower limit may be shown as illustrated in FIG. 10 . Because the allowable ranges of the parameters are shown with the thresholds, the number of re-inputs by the user and the number of required-capacity calculations can be reduced.
  • each of the above allowable parameter ranges is set such that, if the parameter is set to fall outside the allowable range, it leads the specified servomotor to be unsuitable.
  • the allowable parameter range is a numerical range excluding parameter value ranges that cause the specified servomotor to be unsuitable. Accordingly, in cases where an allowable range is set for each of a plurality of parameters, freely resetting those parameters so that their values fall within their corresponding allowable ranges does not necessarily cause the specified servomotor suitable.
  • each of the allowable parameter ranges is the value range serving as an index that helps the user efficiently reselect the parameter to make the specified servomotor fit.
  • the output wattage is determined.
  • an upper limit of the “motor speed” is obtained from an inequality relation where the determined output wattage is less than or equal to the capacity X, which is the “rated output” of the specified servomotor.
  • the upper limit of the “speed” can be obtained instantly.
  • the allowable range specified for the “motor speed” can be further limited from a condition where the motor specifications other than the “rated output”, namely, the “maximum rotational speed”, the “maximum torque”, and the “rated torque” are satisfied.
  • the mechanical condition input screen displayed in step S 2 by the mechanical condition display unit 133 may include, as illustrated in FIG. 11 , check boxes that allow specified parameters to have fixed values.
  • the controller 110 calculates, in later step S 7 , allowable ranges for any parameters that have not been specified to have fixed values.
  • the controller 110 causes the mechanical condition display unit 133 to display a mechanical condition input screen as illustrated in FIG. 12 .
  • the allowable range for the parameter “table mass” that has not been specified to have a fixed value shows that the “table mass” should be less than or equal to 150 kg.
  • step S 7 With reference to the allowable range displayed by the mechanical condition display unit 133 , the user changes, for re-input, the mechanical condition input screen's parameter value in FIG. 9 that causes the unsuitability.
  • the mechanical condition reception unit 123 receives the parameter that has undergone the change. In cases where all the parameters that cause the unsuitability do not belong to the mechanical condition but to the operation pattern, step S 7 is followed by step S 3 with step S 2 skipped. In step S 3 , the user can similarly work on the operation pattern parameter or the operation pattern parameters that cause the unsuitability on the input screen in FIG. 10 . In cases where all the parameters that cause the unsuitability do not belong to the operation pattern but to the mechanical condition, step S 2 is followed by step S 4 with step S 3 skipped.
  • the allowable parameter range is displayed, on the parameter input screen, as the index to cause the specified servomotor suitable, so that the user only needs to carry out re-input for the parameter falling outside the allowable range, thus saving time and labor in input operation. Therefore, a user who has no special knowledge can easily set allowable parameter values for the capacity of the specified servomotor.
  • the parameter selection support system 100 according to the second embodiment of the present invention is similar to that of FIG. 1 .
  • An operation flow of the parameter selection support system 100 according to the second embodiment is similar to that of FIG. 3 .
  • the controller 110 of the parameter selection support system 100 according to the second embodiment causes the display unit 130 to highlight a parameter that is influential in causing the specified servomotor to be unsuitable.
  • the controller 110 when parameter values are unallowable for a capacity of the specified servomotor and when parameter values are unallowable for a capacity of the specified servomotor and include some parameter values that are influential in causing the specified servomotor to be unsuitable, the controller 110 causes the display unit 130 to highlight those influential values.
  • FIG. 13 illustrates an operation pattern input screen where parameters are shown with allowable ranges according to the second embodiment.
  • FIG. 14 illustrates how an operation pattern is corrected according to the second embodiment.
  • “acceleration time” of the operation pattern is the parameter that is most influential in causing the specified servomotor to be unsuitable
  • “0.15” (s) entered as an “acceleration time” by a user in step S 3 is highlighted in step S 7 by the operation pattern display unit 132 .
  • Highlighting may be done by any method such as use of a color that is different from a color for other parameters or flashing. It is to be noted that the plurality of parameters may be highlighted.
  • any one of the mechanical condition parameters can be highlighted while being shown with its allowable range.
  • the “acceleration time” is shown with “0.3” ⁇ “0.15” ⁇ “0.5” which means that this user-entered “0.15” does not fall within this allowable range.
  • the “acceleration time” is “0.15” (s)
  • a large torque is required during acceleration as illustrated in FIG. 14 and the torque exceeds a “maximum torque” of the servomotor specified in FIG. 4 .
  • “0.3” or more needs to be set as an “acceleration time” to adjust the operation pattern as indicated by an arrow in FIG. 14 . If this user-entered value “0.15” as the “acceleration time” is highlighted as illustrated in FIG. 13 , it is possible to return to step S 3 to encourage an input of an “acceleration time” again.
  • the parameter that is influential in causing the specified servomotor to be unsuitable is highlighted and thus can be presented to the user as a priority that should be corrected in order to cause the specified servomotor to be suitable. Consequently, the user can easily reset that parameter.
  • the parameter selection support system 100 according to the third embodiment of the present invention is similar to that of FIG. 1 .
  • An operation flow of the parameter selection support system 100 according to the third embodiment is similar to that of FIG. 3 .
  • FIG. 15 illustrates an operation pattern input screen according to the third embodiment of the present invention.
  • FIG. 16 illustrates an operation pattern input screen where parameters are shown with allowable ranges according to the third embodiment.
  • FIG. 17 illustrates how an operation pattern is corrected according to the third embodiment.
  • FIG. 18 is another illustration of how the operation pattern is corrected according to the third embodiment.
  • the operation pattern display unit 132 of the parameter selection support system 100 displays, as illustrated in FIG. 15 , the operation pattern input screen provided with check boxes each of which allows, in step S 3 , corresponding one of parameters to be specified to have a fixed value.
  • a user can fix parameter values the user wants to maintain by marking the check boxes even if a specified servomotor becomes unsuitable.
  • the controller 110 calculates, in later step S 7 , an allowable range for each of any parameters that has not been specified to have a fixed value.
  • the controller 110 causes the operation pattern display unit 132 to display an operation pattern input screen such as the one illustrated in FIG. 16 .
  • the “moving amount” and the “idle time” are correspondingly fixed at their values that have been received in step S 3 by the operation pattern reception unit 122 , the parameters of “speed”, “acceleration time”, “constant-speed time”, and “deceleration time” that have not been specified to have fixed values are correspondingly shown with the allowable ranges.
  • step S 3 values along with those check marks to fix the values of the “moving amount”, the “speed”, and the “constant-speed time”, allowable ranges are displayed in later step S 7 to encourage correction of the “acceleration time” and the “deceleration time” for reducing a torque required during acceleration while the “moving amount” that corresponds to a trapezoidal area translating into the operation pattern, the “speed”, and the “constant-speed time” are maintained as illustrated in FIG. 17 .
  • step S 3 values along with those check marks to fix the values of the “acceleration time”, the “constant-speed time”, and the “deceleration time”, allowable ranges are displayed in later step S 7 to encourage correction of the “moving amount”, which corresponds to the trapezoidal area, and the “speed” for reducing a torque required during acceleration while the “acceleration time”, the “constant-speed time”, and the “deceleration time” are maintained as illustrated in FIG. 18 .
  • the parameter selection support system 100 enables the user to limit parameter types that should be reset. Moreover, easy resetting of the operation pattern parameter(s) is enabled for the user to achieve a required acceleration torque that is less than or equal to the “maximum torque” of the specified servomotor.
  • the parameter selection support system 100 according to the fourth embodiment of the present invention is similar to that of FIG. 1 .
  • An operation flow of the parameter selection support system 100 according to the fourth embodiment is similar to that of FIG. 3 . While user-specified parameters are fixed in the third embodiment, a user can set a more flexible constraint condition for each of parameters.
  • FIG. 19 illustrates an operation pattern input screen according to the fourth embodiment of the present invention.
  • FIG. 20 illustrates an operation pattern input screen where parameters are shown with allowable ranges according to the fourth embodiment.
  • FIG. 21 illustrates a relationship between fixation degree and each of the allowable ranges according to the fourth embodiment.
  • the operation pattern display unit 132 of the parameter selection support system 100 displays, as illustrated in FIG. 19 , the operation pattern input screen where fields are provided to allow entry of fixation degrees for the parameters of an operation pattern in step S 3 .
  • the fixation degree is a value representing a strength of fixation or constraint when the parameter is selected.
  • a fixation degree of 100% means that the parameter is fixed as in the case of the third embodiment.
  • a fixation degree of 0% means that an allowable range calculated by the controller 110 for the parameter is displayed as it is. This means that the larger the fixation degree, the narrower the initial allowable parameter range becomes based on the fixation degree.
  • the fixation degrees In cases where there are parameters that admit of not much flexibility in setting because of a kind of load that is driven by a drive device, the user can limit flexibility of parameter selection by specifying the fixation degrees.
  • step S 3 In cases where the operation pattern reception unit 122 has received, in step S 3 , user-entered values together with user-entered fixation degrees for “moving amount,” “speed”, “acceleration time”, “constant-speed time”, “deceleration time”, and “idle time”, the controller 110 causes, in later step S 7 , the operation pattern display unit 132 to display an operation pattern input screen such as the one illustrated in FIG. 20 .
  • the allowable ranges displayed in FIG. 20 for the “moving amount”, the “speed”, the “acceleration time”, the “constant-speed time”, the “deceleration time”, and the “idle time” have undergone limitation based on the respective fixation degrees, correspondingly.
  • the controller 110 calculates an allowable range for the “moving amount” for a specified capacity X. If the allowable range for the “moving amount” has, as a result of the calculation, a lower limit of 150 mm and an upper limit of 200 mm, in a “moving amount ” row of FIG. 21 , a value corresponding to the fixation degree of 0% is 150 mm, while a value corresponding to the fixation degree of 100% is 200 mm.
  • a “moving amount” value corresponding to a fixation degree falling within a range of 10% to 90%, is obtained by addition of the lower limit and an increment that corresponds to the fixation degree when a difference between the upper limit and the lower limit is 100%.
  • the operation pattern display unit 132 displays, as a final allowable range for the “moving amount” in FIG. 20 , a range from the “moving amount” value corresponding to the fixation degree of 80% to the “moving amount” value corresponding to the fixation degree of 100% of FIG. 21 , namely, a range from 190 mm to 200 mm, is shown. As such, those italic values in the “moving amount” row of FIG. 21 are allowable.
  • the controller 110 calculates an allowable range for the “speed” that is allowable for the specified capacity X. If the allowable range for the “speed” has, as a result of the calculation, a lower limit of 100 mm/s and an upper limit of 200 mm/s, in a “speed” row of FIG. 21 , a value corresponding to the fixation degree of 0% is 100 mm/s, while a value corresponding to the fixation degree of 100% is 200 mm/s.
  • “speed” values corresponding to a fixation degree falling within the range of 10% to 90% are each obtained by addition of the lower limit and an increment that corresponds to each fixation degree when a difference between the upper limit and the lower limit is 100%.
  • the operation pattern display unit 132 displays, as a final allowable range for the “speed” in FIG. 20 , a range from the “speed” value corresponding to the fixation degree of 0% to the “speed” value corresponding to the fixation degree of 100% of FIG. 21 , namely, a range from 100 mm/s to 200 mm/s, is shown. As such, those italic values in the “speed” row of FIG. 21 are allowable.
  • the controller 110 calculates an allowable range for the “acceleration time” that is allowable for the specified capacity X. If the allowable range for the “acceleration time” has a lower limit of 0.15 s and an upper limit of 0.3 s as a result of the calculation, a value corresponding to the fixation degree of 0% is 0.3 s while a value corresponding to the fixation degree of 100% is 0.15 s in an “acceleration time” row of FIG. 21 .
  • “acceleration time” values corresponding to a fixation degree falling within the range of 10% to 90% are each obtained by addition of the upper limit and a decrement that corresponds to each fixation degree when a difference between the upper limit and the lower limit is 100%.
  • the operation pattern display unit 132 displays, as a final allowable range for the “acceleration time” in FIG. 20 , a range from the “acceleration time” value corresponding to the fixation degree of 100% to the “acceleration time” value corresponding to the fixation degree of 20% of FIG. 21 , namely, a range from 0.15 s to 0.27 s, is shown. As such, those italic values in the “acceleration time” row of FIG. 21 are allowable.
  • allowable ranges are determined in a manner similar to the above and are displayed as in FIG. 20 by the operation pattern display unit 132 .
  • the parameter selection support system 100 can narrow down the allowable parameter range based on the user-specified fixation degree, thus enabling the user to limit the allowable parameter range based on the kind of load.
  • 100 parameter selection support system 110 controller; 120 reception unit; 121 motor reception unit; 122 operation pattern reception unit; 123 mechanical condition reception unit; 130 display unit; 131 motor display unit; 132 operation pattern display unit; 133 mechanical condition display unit; 140 storage unit; 141 motor specification storage unit; 142 operation pattern storage unit; 143 mechanical condition storage unit; 201 CPU 202 memory; 203 memory device; 204 display device; 205 input device.

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WO2019043836A1 (ja) 2019-03-07
US20190379313A1 (en) 2019-12-12
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JPWO2019043836A1 (ja) 2019-11-07
CN109874405B (zh) 2020-07-31

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